constraint_sampler.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_
#define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_

#include <moveit/planning_scene/planning_scene.h>
#include <moveit/kinematic_constraints/kinematic_constraint.h>
#include <boost/shared_ptr.hpp>
#include <vector>

namespace constraint_samplers
{
class ConstraintSampler
{
public:

  static const unsigned int DEFAULT_MAX_SAMPLING_ATTEMPTS = 2; 
  ConstraintSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name);

  virtual ~ConstraintSampler()
  {
  }

  virtual bool configure(const moveit_msgs::Constraints &constr) = 0;

  const std::string& getGroupName() const
  {
    return getJointModelGroup()->getName();
  }

  const robot_model::JointModelGroup* getJointModelGroup() const
  {
    return jmg_;
  }

  const planning_scene::PlanningSceneConstPtr& getPlanningScene() const
  {
    return scene_;
  }

  const std::vector<std::string>& getFrameDependency() const
  {
    return frame_depends_;
  }

  const robot_state::StateValidityCallbackFn& getStateValidityCallback() const
  {
    return state_validity_callback_;
  }

  void setStateValidityCallback(const robot_state::StateValidityCallbackFn &callback)
  {
    state_validity_callback_ = callback;
  }

  bool sample(robot_state::JointStateGroup *jsg,
              const robot_state::RobotState &reference_state)
  {
    return sample(jsg, reference_state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
  }

  bool project(robot_state::JointStateGroup *jsg,
               const robot_state::RobotState &reference_state)
  {
    return project(jsg, reference_state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
  }

  virtual bool sample(robot_state::JointStateGroup *jsg,
                      const robot_state::RobotState &reference_state,
                      unsigned int max_attempts) = 0;

  virtual bool project(robot_state::JointStateGroup *jsg,
                       const robot_state::RobotState &reference_state,
                       unsigned int max_attempts) = 0;

  bool isValid() const
  {
    return is_valid_;
  }

  bool getVerbose() const
  {
    return verbose_;
  }

  void setVerbose(bool flag)
  {
    verbose_ = flag;
  }

protected:

  virtual void clear();

  bool                                  is_valid_;  
  planning_scene::PlanningSceneConstPtr scene_; 
  const robot_model::JointModelGroup   *jmg_; 
  std::vector<std::string>              frame_depends_; 
  robot_state::StateValidityCallbackFn  state_validity_callback_; 
  bool                                  verbose_; 
};

typedef boost::shared_ptr<ConstraintSampler> ConstraintSamplerPtr; 
typedef boost::shared_ptr<const ConstraintSampler> ConstraintSamplerConstPtr; 
}


#endif